Navigation of mobile robot using Global Positioning System (GPS) and obstacle avoidance system with commanded loop daisy chaining application method

Méziane, Hamid; Adom, Abdul Hamid; Rahim, Norasmadi Abdul; Rahiman, Mohd Hafiz Fazalul

doi:10.1109/cspa.2009.5069211

Cited by 22 publications

(18 citation statements)

References 3 publications

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“…Autonomous mobile navigation has been an area of increasing research interest. Most approaches [1][2][3] focus on systems for outdoor search operations, which require the support of GNSS satellites to acquire their location, achieving a localization error of several meters. In contrast to satellite-based systems, which remain the standard in outdoor navigation scenarios, in indoor navigation scenarios, GNSS localization is not supported.…”

Section: Introductionmentioning

confidence: 99%

Aerial and Ground Robot Collaboration for Autonomous Mapping in Search and Rescue Missions

Chatziparaschis

Lagoudakis

Partsinevelos

2020

Drones

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Humanitarian Crisis scenarios typically require immediate rescue intervention. In many cases, the conditions at a scene may be prohibitive for human rescuers to provide instant aid, because of hazardous, unexpected, and human threatening situations. These scenarios are ideal for autonomous mobile robot systems to assist in searching and even rescuing individuals. In this study, we present a synchronous ground-aerial robot collaboration approach, under which an Unmanned Aerial Vehicle (UAV) and a humanoid robot solve a Search and Rescue scenario locally, without the aid of a commonly used Global Navigation Satellite System (GNSS). Specifically, the UAV uses a combination of Simultaneous Localization and Mapping and OctoMap approaches to extract a 2.5D occupancy grid map of the unknown area in relation to the humanoid robot. The humanoid robot receives a goal position in the created map and executes a path planning algorithm in order to estimate the FootStep navigation trajectory for reaching the goal. As the humanoid robot navigates, it localizes itself in the map while using an adaptive Monte-Carlo Localization algorithm by combining local odometry data with sensor observations from the UAV. Finally, the humanoid robot performs visual human body detection while using camera data through a Darknet pre-trained neural network. The proposed robot collaboration scheme has been tested under a proof of concept setting in an exterior GNSS-denied environment.

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Section: Introductionmentioning

confidence: 99%

Aerial and Ground Robot Collaboration for Autonomous Mapping in Search and Rescue Missions

Chatziparaschis

Lagoudakis

Partsinevelos

2020

Drones

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“…In this regard, we have developed a cost effective autonomous mobile robot prototype for the purpose of increasing the last mile delivery efficiency as well as ensuring a secure and contactless package delivery. An autonomous mobile robot is a self-driving vehicle that does not require any operation from operator to navigate the robot [6]. The movements and trajectory are predefined before the operation and the robot navigates accordingly.…”

Section: Introductionmentioning

confidence: 99%

An Autonomous Delivery Robot to Prevent the Spread of Coronavirus in Product Delivery System

Abrar

Islam

Shanto

2020

2020 11th IEEE Annual Ubiquitous Computing, Electronics &Amp; Mobile Communication Conference (UEMCON)

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Due to the coronavirus situation around the world, safe and contactless home delivery services have become substantial concerns for the people while they are forced to stay at home. In this context, we have proposed a prototype robot that can be very helpful to reduce the risk of infectious disease transmission in the product delivery system during the extreme strain on healthcare and hygiene. The design and development of a cost effective autonomous mobile robot prototype have been presented that can deliver packages safely to a desired destination using Global Positioning System (GPS). The robot ensures a secure and human-contactless delivery by using a password protected container to carry the delivery package. The four wheel drive robot can successfully navigate to a preset location by receiving GPS coordinates from satellites and correcting its direction using a digital compass. After the robot arrives at its destination, it waits for the customer to unlock the container. The customer will have to use a password upon delivery to unlock the container and retrieve the ordered product. This password can be sent to the customer with the order confirmation message. After completing the delivery, the robot can autonomously return to its starting location. Heading angle accuracy test and trajectory completion accuracy test have been performed to ascertain the accuracy of the robot. Alongside an infection risk-free product delivery, our robot can be an effective technological solution of the last mile problem which will reduce the last mile delivery cost significantly.

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“…Recently, positional information derived from global positioning system (GPS) receivers has been employed in a number of applications ranging from land navigation, vehicle tracking [1,2], personal communication [3], and emergency assistance [4]. To effectively reduce multipath interference and receive the GPS signals, circularly polarized (CP) radiation provides higher receiving power and better accuracy.…”

Section: Introductionmentioning

confidence: 99%

A Corner-Fed Square Ring Antenna With an L-Shaped Slot on Ground Plane for GPS Application

Lee

Chen²,

Su³

et al. 2013

PIER C

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Abstract-This paper proposes a square ring patch antenna for GPS L 1 band application. The square ring patch located on the center of an FR4 substrate was truncated a square to guide two resonant modes. The dimensions of the truncated square located on the center of the patch controls the antenna's frequency band. Larger truncated square creates longer resonant path that decreases the resonant band. To achieve the CP radiation patterns, the corner-fed method and a truncated L-shaped slot on the ground plane are applied. After the size of the truncated L-shaped slot is optimized, the currents of E θ and E ϕ are around 90 • shifts that make the antenna's AR lower than 3 dB. By switching the positions of the feed point and the L-shaped slot, both RHCP and LHCP can be obtained individually. Beside the CP operation, the proposed design also has advantages of planar structure, simple design, low cost, and good performances.

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Navigation of mobile robot using Global Positioning System (GPS) and obstacle avoidance system with commanded loop daisy chaining application method

Cited by 22 publications

References 3 publications

Aerial and Ground Robot Collaboration for Autonomous Mapping in Search and Rescue Missions

Aerial and Ground Robot Collaboration for Autonomous Mapping in Search and Rescue Missions

An Autonomous Delivery Robot to Prevent the Spread of Coronavirus in Product Delivery System

A Corner-Fed Square Ring Antenna With an L-Shaped Slot on Ground Plane for GPS Application

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